Design of a Single-DoF Prosthetic Hand With Practical Maximum Grip Force and Grasp Speed for ADLs Using Dual-Motor Actuator

Sufficient grip force and appropriate grasp speed provided by a prosthetic hand are essential for daily use. However, due to limitations in size weight, it is very challenging select motors that can generate enough power provide sufficient high speed. Accordingly, this research proposes new design using dual-motor actuator as an actuation strategy, which consists of two separated differential mechanism operate at the load (high force) no-load speed) conditions individually. One motor used creating torque other speed, so loads without high-power with excessive weight. The developed perform grasping motions following achievements: It maximum 80.2 N maintain 62 non-backdrivable mechanisms, average closing time 1.2 s. Furthermore, more than hands single motor.